﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Drawing;
using System.Windows.Forms;
using MotionPlanning.MotionPlanningPrimitives;
using MotionPlanning.MotionPlanningAlgorithms;
using MotionPlanning.MotionPlanningComponents.Visualizations;
using MotionPlanning.MotionPlanningAlgorithms.RDG_Prototype;
using MotionPlanning.MotionPlanningAlgorithms.ioRRT_Prototype;

namespace MotionPlanning.MotionPlanningComponents.Visualizations
{
    ///
    /// Visualizer for System_Point2D
    ///
    public class Visualizer_Point2D : Visualizer
    {
        public Visualizer_Point2D(Graphics canvas, Rectangle rect)
            : base(canvas, rect)
        {
        }


        override public void RenderFrame()
        {
            ClearCanvas();

            PlotVerticesWithCost(planner_subject.GetVertices().GetAllDataObjects());
            canvas.DrawLine(canvasAxisGray, 0, center_y, screen_width, center_y);
            canvas.DrawLine(canvasAxisGray, center_x, 0, center_x, screen_height);
        }

    }
}
